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Code Issues Releases Activity

Removed code for per message channel hop.

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This commit is contained in:
Brian Webb 2013-04-07 15:59:31 +01:00
parent 2ade9abcff
commit e27be3f594
5 changed files with 2 additions and 63 deletions
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2
flight/Libraries/inc/packet_handler.h
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@ -69,9 +69,7 @@ typedef struct {
#define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data)) #define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct { typedef struct {
PHPacketHeader header; PHPacketHeader header;
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
portTickType packet_recv_time; portTickType packet_recv_time;
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
uint8_t ecc[RS_ECC_NPARITY]; uint8_t ecc[RS_ECC_NPARITY];
} PHAckNackPacket, *PHAckNackPacketHandle; } PHAckNackPacket, *PHAckNackPacketHandle;

1
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
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@ -137,7 +137,6 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------- //-------------------------
#define PIOS_MASTER_CLOCK 72000000 #define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2) #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#define PIOS_RFM22B_PERIODIC_CHANNEL_HOP
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

1
flight/PiOS/Boards/STM32F4xx_RevoMini.h
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@ -212,7 +212,6 @@ extern uint32_t pios_packet_handler;
// Default APB2 Prescaler = 2 // Default APB2 Prescaler = 2
// //
#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK #define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK
#define PIOS_RFM22B_PERIODIC_CHANNEL_HOP
//------------------------- //-------------------------
// Interrupt Priorities // Interrupt Priorities

55
flight/PiOS/Common/pios_rfm22b.c
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@ -207,12 +207,10 @@ static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev); static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev); static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev); static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks); static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks);
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev); static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev);
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev); static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev); static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
static void rfm22_clearLEDs(); static void rfm22_clearLEDs();
// SPI read/write functions // SPI read/write functions
@ -1388,13 +1386,8 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
PHPacketHandle p = NULL; PHPacketHandle p = NULL;
// Don't send if it's not our turn. // Don't send if it's not our turn.
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev))) if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev)))
return RFM22B_EVENT_RX_MODE; return RFM22B_EVENT_RX_MODE;
#else // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
if (!rfm22b_dev->time_to_send)
return RFM22B_EVENT_RX_MODE;
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// See if there's a packet ready to send. // See if there's a packet ready to send.
if (rfm22b_dev->tx_packet) if (rfm22b_dev->tx_packet)
@ -1456,12 +1449,10 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
D2_LED_OFF; D2_LED_OFF;
#endif #endif
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// Change the channel if necessary. // Change the channel if necessary.
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) || if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) (rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST))
rfm22_changeChannel(rfm22b_dev); rfm22_changeChannel(rfm22b_dev);
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// Add the error correcting code. // Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p); encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
@ -1974,14 +1965,10 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
} }
// Change the channel // Change the channel
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message. // On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) { if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - curTicks; rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
} }
#else // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(rfm22b_dev->rx_packet.header.seq_num, 0) & 0x7f);
#endif // !PIOS_RFM22B_PERIODIC_CHANNEL_HOP
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) { } else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
@ -2025,9 +2012,7 @@ static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK; aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph); aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num; aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks); aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
rfm22b_dev->tx_packet = (PHPacketHandle)aph; rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true; rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START; return RFM22B_EVENT_TX_START;
@ -2071,7 +2056,6 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
break; break;
} }
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message. // On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
if (prev->header.type == PACKET_TYPE_CON_REQUEST) { if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks; rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
@ -2083,10 +2067,6 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
// This is not working yet // This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time; rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
} }
#else // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// Change the channel
rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(prev->header.seq_num, 0) & 0x7f);
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// Reset the resend count // Reset the resend count
rfm22b_dev->cur_resent_count = 0; rfm22b_dev->cur_resent_count = 0;
@ -2113,29 +2093,6 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet; rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL; rfm22b_dev->prev_tx_packet = NULL;
#ifndef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_CON_REQUEST) {
// First resend on the current channel, then resend on the next channel in case the receive has changed channels, then fallback.
rfm22b_dev->cur_resent_count++;
switch (rfm22b_dev->cur_resent_count) {
case 1:
rfm22b_dev->prev_frequency_hop_channel = rfm22b_dev->frequency_hop_channel;
case 2:
case 5:
rfm22_setFreqHopChannel(rfm22b_dev, rfm22b_dev->prev_frequency_hop_channel);
break;
case 3:
case 4:
case 6:
rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(rfm22b_dev->tx_packet->header.seq_num, 0) & 0x7f);
break;
default:
rfm22_setFreqHopChannel(rfm22b_dev, RFM22B_DEFAULT_CHANNEL);
break;
}
}
#endif //PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// Increment the reset packet counter if we're connected. // Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) { if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET); rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
@ -2236,7 +2193,6 @@ static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true); rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
} }
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks) static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
{ {
return ticks + rfm22b_dev->time_delta; return ticks + rfm22b_dev->time_delta;
@ -2267,7 +2223,6 @@ static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
} }
return false; return false;
} }
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev) static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{ {
@ -2301,8 +2256,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22_clearLEDs(); rfm22_clearLEDs();
// Initialize the detected device statistics. // Initialize the detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
{
rfm22b_dev->pair_stats[i].pairID = 0; rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127; rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0; rfm22b_dev->pair_stats[i].afc_correction = 0;
@ -2334,9 +2288,6 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->rx_buffer_wr = 0; rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0; rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0; rfm22b_dev->frequency_hop_channel = 0;
#ifndef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
rfm22b_dev->prev_frequency_hop_channel = 0;
#endif // !PIOS_RFM22B_PERIODIC_CHANNEL_HOP
rfm22b_dev->afc_correction_Hz = 0; rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0; rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0; rfm22b_dev->tx_complete_ticks = 0;
@ -2345,8 +2296,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B) // software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres); rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
for (int i = 50; i > 0; i--) for (int i = 50; i > 0; i--) {
{
// read the status registers // read the status registers
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1); rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2); rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
@ -2354,7 +2304,6 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
// wait 1ms // wait 1ms
PIOS_DELAY_WaitmS(1); PIOS_DELAY_WaitmS(1);
} }
// **************** // ****************

6
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -773,10 +773,6 @@ struct pios_rfm22b_dev {
float frequency_step_size; float frequency_step_size;
// current frequency hop channel // current frequency hop channel
uint8_t frequency_hop_channel; uint8_t frequency_hop_channel;
#ifndef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// previous frequency hop channel
uint8_t prev_frequency_hop_channel;
#endif // !PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// the frequency hop step size // the frequency hop step size
uint8_t frequency_hop_step_size_reg; uint8_t frequency_hop_step_size_reg;
// afc correction reading (in Hz) // afc correction reading (in Hz)
@ -786,9 +782,7 @@ struct pios_rfm22b_dev {
portTickType packet_start_ticks; portTickType packet_start_ticks;
portTickType tx_complete_ticks; portTickType tx_complete_ticks;
portTickType rx_complete_ticks; portTickType rx_complete_ticks;
#ifdef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
portTickType time_delta; portTickType time_delta;
#endif // PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// The maximum time (ms) that it should take to transmit / receive a packet. // The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time; uint32_t max_packet_time;